cnc-club.ru

Код: Выделить всё

import hal_glib

Код: Выделить всё

#!/usr/bin/python
# -*- coding: utf-8 -*-
# vim: sts=4 sw=4 et
""" Based on http://psha.org.ru/cgit/psha/owenio/tree/owen-component-trm151
	Hope this sould be licenced under GNU GPL 2 or later. 
	Never the less all changes are GNU GPL 2.
"""


import sys, serial, time
import hal

ser_id = 0
bit_out	= ""
float_out = ""
s32_out	= ""
u32_out	= ""

bit_in	 = ""
float_in  = ""
s32_in	 = ""
u32_in	 = ""


tty = '/dev/ttyS0'
if len(sys.argv) > 1:
	tty = sys.argv[1]
timeout = 0.1

in_pin_types = {"bit":0, "s32":1, "u32":2, "float":3}

class RS232:
	def __init__(self):
		
		self.comp = hal.component('rs232')

		self.enable = self.comp.newpin("enable", hal.HAL_BIT, hal.HAL_IN)
		self.pins = {}		
		self.pin_in['bit']	= dict([[i, self.comp.newpin(i, hal.HAL_BIT, hal.HAL_IN)] for i in bit_in.split])
		self.pin_in['s32']	= dict([[i, self.comp.newpin(i, hal.HAL_S32, hal.HAL_IN)] for i in s32_in.split])
		self.pin_in['u32']	= dict([[i, self.comp.newpin(i, hal.HAL_U32, hal.HAL_IN)] for i in u32_in.split])
		self.pin_in['float'] = dict([[i, self.comp.newpin(i, hal.HAL_FLOAT, hal.HAL_IN)] for i in float_in.split])

		self.pin_out['bit']	= dict([[i, self.comp.newpin(i, hal.HAL_BIT, hal.HAL_OUT)] for i in bit_out.split])
		self.pin_out['s32']	= dict([[i, self.comp.newpin(i, hal.HAL_S32, hal.HAL_OUT)] for i in s32_out.split])
		self.pin_out['u32']	= dict([[i, self.comp.newpin(i, hal.HAL_U32, hal.HAL_OUT)] for i in u32_out.split])
		self.pin_out['float'] = dict([[i, self.comp.newpin(i, hal.HAL_FLOAT, hal.HAL_OUT)] for i in float_out.split])

		self.port = serial.Serial(tty)
		self.port.setTimeout(timeout)
		
		self.comp.ready()

	def read_pin(self, pin) :
		r = re.match("(..):([0-7]):([A-z\-0-9])+:[0-9\-\.]+:(\.*)")
		if r : 	
			pin = r.groups()
			pin_type = ["bit","s32","u32","float","bit","s32","u32","float"][pin[2]]
			pin_name = pin[3]
			value = pin[4]
			self.pin_out[pin_type][pin_name] = value
			#TODO CRC!!!
			return True		

		else : return False

	def run(self) :
		self.last_in = dict(["bit","s32","u32","float"])
		self.input = ""
		while True:
		
			if self.enable == 1 :
				# Read from port
				while ser.inWaiting():
					self.input += ser.read()
				# format  id: 2 byte, ":", pintype(0..7) 1 byte,":", pin-name [A-z\-0-9] x byte,":", value [0-9\-\.] x byte,":", crc, "\n"
				array = self.input.split("\n")
				last_pin = False
				for i in array :
					last_pin = self.read_pin(i)
				if not last_pin and len(array)>0 :
					self.input = array[-1]
								
				# Write pin's values to port if needed
				for pin_type in self.pin_in :
					for pin in self.pin_in[pin_type] :
						if pin not in self.last_in[pin_type] or self.comp[pin]!=self.last_in[pin_type][pin] :
							#TODO CRC!!!
							ser.write( "%s:%s:%s:%s:%s\n" % (ser_id, in_pin_types[pin_type], pin, self.comp[pin], "CRC") ) 
							self.last_in[pin_type][pin] = self.comp[pin]
			
			time.sleep(0.01); 
		
rs232 = RS232()		

try:
	rs232.run()
except Exception, e:
	import traceback
	traceback.print_exc()
	print e
	comp.exit()

Код: Выделить всё

Debug file information:
Can not find -sec MOT -var MOT -num 1 
Can not find -sec IO -var IO -num 1 
Can not find -sec LINUXCNC -var NML_FILE -num 1 
Can not find -sec EMC -var NML_FILE -num 1 
Traceback (most recent call last):
  File "./arduino1.py", line 95, in <module>
    rs232 = RS232()      
  File "./arduino1.py", line 40, in __init__
    self.pin_in['bit']   = dict([[i, self.comp.newpin(i, hal.HAL_BIT, hal.HAL_IN)] for i in bit_in.split])
TypeError: 'builtin_function_or_method' object is not iterable
custom_postgui.hal:2: ./arduino1.py exited without becoming ready
22844
  PID TTY      STAT   TIME COMMAND
22895
  PID TTY      STAT   TIME COMMAND
Stopping realtime threads
Unloading hal components

Код: Выделить всё

#First we load the Python user module named /user/bin/simple_arduino with the name 'arduino'
loadusr -Wn arduino ./arduino1.py

#Map the machine on/off state to the arduino
net machstate rs232.machine-state <= halui.machine.is-on

Код: Выделить всё

#!/usr/bin/python
# -*- coding: utf-8 -*-
# vim: sts=4 sw=4 et
""" Based on http://psha.org.ru/cgit/psha/owenio/tree/owen-component-trm151
   Hope this sould be licenced under GNU GPL 2 or later. 
   Never the less all changes are GNU GPL 2.
"""


import sys, serial, time
import hal

ser_id = 0
bit_out   = ""
float_out = ""
s32_out   = ""
u32_out   = ""

bit_in    = "machine-state"
float_in  = ""
s32_in    = ""
u32_in    = ""


tty = "/dev/ttyUSB0"
if len(sys.argv) > 1:
   tty = sys.argv[1]
timeout = 0.1

in_pin_types = {"bit":0, "s32":1, "u32":2, "float":3}

class RS232:
   def __init__(self):
      
      self.comp = hal.component('rs232')

      self.enable = self.comp.newpin("enable", hal.HAL_BIT, hal.HAL_IN)
      self.pins = {}      
      self.pin_in['bit']   = dict([[i, self.comp.newpin(i, hal.HAL_BIT, hal.HAL_IN)] for i in bit_in.split])
      self.pin_in['s32']   = dict([[i, self.comp.newpin(i, hal.HAL_S32, hal.HAL_IN)] for i in s32_in.split])
      self.pin_in['u32']   = dict([[i, self.comp.newpin(i, hal.HAL_U32, hal.HAL_IN)] for i in u32_in.split])
      self.pin_in['float'] = dict([[i, self.comp.newpin(i, hal.HAL_FLOAT, hal.HAL_IN)] for i in float_in.split])

      self.pin_out['bit']   = dict([[i, self.comp.newpin(i, hal.HAL_BIT, hal.HAL_OUT)] for i in bit_out.split])
      self.pin_out['s32']   = dict([[i, self.comp.newpin(i, hal.HAL_S32, hal.HAL_OUT)] for i in s32_out.split])
      self.pin_out['u32']   = dict([[i, self.comp.newpin(i, hal.HAL_U32, hal.HAL_OUT)] for i in u32_out.split])
      self.pin_out['float'] = dict([[i, self.comp.newpin(i, hal.HAL_FLOAT, hal.HAL_OUT)] for i in float_out.split])

      self.port = serial.Serial(tty)
      self.port.setTimeout(timeout)
      
      self.comp.ready()

   def read_pin(self, pin) :
      r = re.match("(..):([0-7]):([A-z\-0-9])+:[0-9\-\.]+:(\.*)")
      if r :    
         pin = r.groups()
         pin_type = ["bit","s32","u32","float","bit","s32","u32","float"][pin[2]]
         pin_name = pin[3]
         value = pin[4]
         self.pin_out[pin_type][pin_name] = value
         #TODO CRC!!!
         return True      

      else : return False

   def run(self) :
      self.last_in = dict(["bit","s32","u32","float"])
      self.input = ""
      while True:
      
         if self.enable == 1 :
            # Read from port
            while ser.inWaiting():
               self.input += ser.read()
            # format  id: 2 byte, ":", pintype(0..7) 1 byte,":", pin-name [A-z\-0-9] x byte,":", value [0-9\-\.] x byte,":", crc, "\n"
            array = self.input.split("\n")
            last_pin = False
            for i in array :
               last_pin = self.read_pin(i)
            if not last_pin and len(array)>0 :
               self.input = array[-1]
                        
            # Write pin's values to port if needed
            for pin_type in self.pin_in :
               for pin in self.pin_in[pin_type] :
                  if pin not in self.last_in[pin_type] or self.comp[pin]!=self.last_in[pin_type][pin] :
                     #TODO CRC!!!
                     ser.write( "%s:%s:%s:%s:%s\n" % (ser_id, in_pin_types[pin_type], pin, self.comp[pin], "CRC") ) 
                     self.last_in[pin_type][pin] = self.comp[pin]
         
         time.sleep(0.01); 
      
rs232 = RS232()      

try:
   rs232.run()
except Exception, e:
   import traceback
   traceback.print_exc()
   print e
   comp.exit()